DE112018001528T5 - CONTROL DEVICE FOR TRACKING SYSTEM, VEHICLE AND TRACKING CONTROL METHOD - Google Patents

Abstract

The present invention is configured such that a lane departure control device that issues a warning based on the positional relationship of a vehicle and a lane boundary line is equipped with a detection unit for detecting a brake switching from on to off and a warning control unit for: if the detection unit has detected the switching, changing a warning threshold with which the vehicle position information is compared to determine whether or not to issue a warning to a value to which a warning is unlikely to be issued compared to when the detection unit has not detected the switchover. The present invention thereby provides a lane departure control device that can reduce warnings that could be a nuisance to the driver.

Description

Technical field

The present disclosure relates to a control device for a lane keeping device, a vehicle, and a lane keeping control method.

Technology Background

Conventionally, there is a lane keeping device that determines whether or not a vehicle leaves a lane based on a detection signal of a steering wheel angle sensor, a camera, a speed sensor, or the like. For example, a lane keeping device disclosed in PTL 1 issues a warning when a condition is detected in which a vehicle leaves a lane. As a result, a driver is given a warning before leaving a lane.

citations

patents

PTL 1
Japanese Patent Application Laid-Open No. 2013-244767

Summary of the invention

Technical problem

In the case of the aforementioned lane keeping device, a warning is sometimes issued even in a situation in which a warning is not required for the driver. The driver may find such a warning disturbing.

It is an object of the present disclosure to provide a lane departure control device, vehicle, and lane departure warning method that are capable of reducing annoying warnings to a driver.

the solution of the problem

An aspect of a lane departure control device according to the present disclosure is a control device that outputs a warning based on a positional relationship between a vehicle and a lane boundary line, the lane departure control device includes: a detection section that switches the brake from ON -Condition detected in an OFF state; and a warning control section that changes a warning threshold to a value that is unlikely to issue a warning, as compared with a case where the detection section does not detect the switching (wherein) as soon as the detection section detects the switching, the warning threshold with Position information of the vehicle is to be compared to determine whether the warning is issued or not.

One aspect of a vehicle according to the present disclosure includes the lane departure control device described above.

An aspect of a lane departure warning method according to the present disclosure is a method performed in a vehicle, the lane departure warning method issues a warning based on the positional relationship between the vehicle and the lane boundary line, the lane departure warning method includes: detecting the occurrence of a switch from an ON state to an OFF state of a brake; and changing a warning threshold to a value less likely to issue the warning compared to a case where the occurrence of the switching is not detected, in a case where the occurrence of the switching is detected, wherein the warning threshold is to be compared with position information of the vehicle to determine whether the warning is issued or not.

Advantageous effects of the invention

According to the present disclosure, a warning that the driver finds annoying can be reduced.

list of figures

• 1 12 is a schematic configuration diagram illustrating an example of a vehicle equipped with a lane keeping device that includes a control device according to an embodiment of the present disclosure;
• 2 Fig. 11 is a functional block diagram illustrating an electronic control unit for the lane keeping device;
• 3 Fig. 11 is a flowchart illustrating the control operation of the lane keeping device;
• 4 Fig. 14 is a flowchart illustrating the operation of the threshold change controller;
• 5 Fig. 12 is a schematic diagram illustrating a first driving scene example;
• 6 Fig. 12 is a schematic diagram illustrating a second driving scene example;
• 7A Fig. 12 is a schematic diagram illustrating a state immediately before a vehicle enters a curve;
• 7B FIG. 12 is a schematic diagram illustrating a state in which the vehicle is turning; and
• 7C 12 is a schematic diagram illustrating a state in which the vehicle is exiting the curve.

Description of embodiments

[Embodiment]

A lane departure control device according to an embodiment of the present disclosure will be described below with reference to the drawings. Components whose names and functions are the same are identified with the same reference numbers, so that the description is carried out without repeating the respective details thereof.

[Tracking device]

1 FIG. 12 is a schematic configuration diagram showing an example of a vehicle 50 shows that with a lane keeping device 10 is equipped with an electronic control unit 20 includes, which is the control device according to this embodiment.

First is regarding 1 the lane keeping device 10 described. The lane keeping device 10 is on a vehicle 50 (a large vehicle) such as a truck, and includes a CCD camera 11 , an electronic control unit 20 (hereinafter simply referred to as "ECU"), loudspeaker 30 that give acoustic warnings, and a display device 31 which issues a display warning.

[CCD camera]

The CCD camera 11 is on a front section of the cab CA of the vehicle 50 provided. The CCD camera 11 forms lane boundaries WL , such as white lines and yellow lines on a road surface that indicate the lane LA of the vehicle 50 share, and transfers the image shown to the ECU 20 , A section that detects a lane boundary is not on the CCD camera 11 limited, and other known imaging devices such as a CMOS image sensor can be used.

[ECU (control device)]

The ECU 20 performs various controls of the vehicle 50 through and is known to include a CPU, ROM, RAM, an input port, an output port, and the like. The ECU 20 is an example of the lane departure control device according to this embodiment. Accordingly, in the following description, the ECU 20 as the control device for the lane keeping device according to this embodiment.

Like this in 2 is illustrated, includes the ECU 20 an image processing section 21 , a boundary line detection section 22 , a deviation determination section 23 , a detection section 24 and a warning control section 25 as part of the functional elements. A description will be given while these respective functional elements in the ECU 20 are included as an integrated hardware. However, each of these components can also be provided in separate hardware.

The image processing section 21 creates a lane boundary line image to detect a white line, a yellow line and the like around the lane LA to subdivide in image processing such as edge extraction on from the CCD camera 11 received image data are applied.

The boundary line detection section 22 processes this in the image processing section 21 image obtained to the lane boundary lines WL capture.

The deviation determination section 23 determines whether the vehicle 50 the lane LA in the direction outside the detected lane boundary lines WL leaves or not. In addition to this, the deviation determination section 23 determine, that is, predict whether the vehicle 50 the lane LA in the direction outside the detected lane boundary lines WL leaves or not.

The deviation determination section 23 determined based on the relationship between a distance from each lane boundary line WL of the vehicle 50 and the warning threshold D _TH whether the vehicle 50 from the lane LA deviates or not, alternatively, the deviation determination section 23 based on the relationship between a distance from each lane boundary line WL of the vehicle 50 and the warning threshold D determine (that is, predict) whether the vehicle 50 the lane LA will leave or not _TH .

The acquisition section 24 performs detection related to a state of an auxiliary brake (not illustrated) in the vehicle 50 by. This is how the detection section detects 24 based on the output of a brake sensor (not illustrated) for the aforementioned, in the vehicle 50 provided auxiliary brake, in particular switching from an ON state to an OFF state of the auxiliary brake.

The acquisition section 24 can also detect the ON / OFF state of the auxiliary brake.

Examples of the auxiliary brake include various auxiliary brakes such as an exhaust brake, a compression release brake, and a decelerator. The brake sensor for the auxiliary brake outputs information regarding the ON / OFF of a switch of the auxiliary brake, for example. Such a brake sensor is similar to conventionally known various brake sensors. Accordingly, a description of the auxiliary brake and the brake sensor is omitted.

The acquisition section 24 repeatedly performs the aforementioned acquisition at predetermined intervals. A method of detecting the output of the brake sensor by the detection section 24 is not limited in any particular way. The acquisition section 24 can actively detect an output of the brake sensor or can passively receive the output of the brake sensor.

Once the capture section 24 detects the switching described above, the detection section transmits 24 a signal to the warning control section 25 indicating that the switch described above has been detected. In addition, the detection section 24 Information regarding an ON state / OFF state of an auxiliary brake to the warning control section 25 transfer. The warning control section 25 can actively create a detection result of the detection section 24 to capture. Accordingly, there is a method of providing information regarding the detection result of the detection section 24 between the detection section 24 and the warning control section 25 not restricted in any particular way.

If through the deviation determination section 23 it is determined that the vehicle 50 the lane LA leaves the warning control section 25 a lane warning from the warning control section 25 out. If the deviation determination section 23 predicts that the vehicle 50 the lane LA the warning control section 25 a lane warning from the warning control section 25 output.

There will be the lane warning from the warning control section 25 who have favourited acoustic warnings from speakers 30 serving as a warning section and a display warning (e.g. letters, a lamp or the like) from the display device 31 that serves as a warning section. The lane keeping warning is not limited to the acoustic warning and the display warning, but can be, for example, a warning torque such as a vibration of a steering wheel.

In contrast, once the capture section changes 24 switching from the ON state to the OFF state of the auxiliary brake is detected, the warning control section 25 the warning threshold D _TH to be used to determine whether or not the lane departure warning is output to a value that the lane departure warning is unlikely to be output compared to a normal state (hereinafter referred to as a "changed warning threshold"). Such a change in the warning threshold value DTH is carried out, for example, until a predetermined time has elapsed from a time of the aforementioned switchover.

In particular, the warning control section changes 25 once the capture section 24 the switching described above detects the warning threshold D _TH , which is a threshold value used to determine the deviation of the vehicle 50 through the deviation determination section 23 is to be used in a value larger than a value in the usual state until a predetermined time has elapsed from a time of the aforementioned switching.

The change described above can be performed according to a method of determining the deviation of the deviation determination section 23 be adjusted. If, for example, by the deviation determination section 23 it is determined whether the vehicle 50 leaves the lane or not, the warning threshold DTH becomes the same as in the case of a deviation distance from the lane LA is set, and accordingly, the warning threshold DTH is set to a larger value than the usual value.

Once the capture section 24 a newly carried out switching from the ON state to the OFF state of the auxiliary brake in a state in which the warning threshold value is changed (hereinafter referred to as “threshold value change state”), the Warning control section 25 maintain the threshold change state until a predetermined time has elapsed from a time of the aforementioned newly performed switching.

The warning control section 25 may change the warning threshold as the warning threshold during detection of the auxiliary brake ON state by the value detection section 24 use.

The predetermined time is not limited to a preset fixed value. For example, the predetermined time can be appropriately set in relation to a driving situation (for example, a road situation, a vehicle speed, or the like). In a case where the vehicle 50 Driving in a curve as an example of the driving situation can be the length of time before the vehicle 50 leaves the curve (from the state of 7A to the state of 7C ), which is the predetermined time. Alternatively, in a case where the vehicle 50 through a construction site section (not illustrated) as another example of the driving situation, the length of time before the vehicle 50 leaves the construction site section, the predetermined time.

[Operation of the controller]

The following is the control operation of the lane keeping warning and the operation of the warning suppression control performed by the lane keeping device as described above 10 is carried out. 3 FIG. 11 is a flowchart illustrating the control operation of the lane departure from the lane keeping device 10 is carried out.

4 FIG. 12 is a flowchart illustrating the operation of the warning suppression control performed by the lane keeping device 10 is carried out. The control operation of the lane departure and the operation of the warning suppression control are in the ECU 20 repeated with a fixed cycle.

The 5 and 6 are schematic diagrams illustrating two examples of driving scenes of a vehicle. In the following description, respective examples for the operation of the controller are shown in the flowcharts of 3 and 4 described on the in the 5 and 6 illustrated first and second driving scene examples are applied.

First, the operation of the controller in the first example for an in 5 illustrated driving scene example described. In the first driving scene example in a situation in which lane boundary lines can be identified on both sides, a vehicle is traveling in linear lanes. That is, the first driving scene example is an ordinary driving state.

In the in 3 illustrated flowchart captures the boundary line detection section 22 in step S101 boundary lines WL , and a control process goes to the next step S102 about.

In step S102 coming from step S101 , it is determined whether the detection of the lane boundary lines WL is successful or not.

There is a scene in which the identification of lane boundaries WL on both sides depending on the driving scene is difficult. In this case, the boundary line detection section 22 no lane boundary lines WL on both sides of the vehicle 50 record ("NO" in step S102 ), and the lane departure warning control process is ended accordingly.

That is, in a case where the lane boundary lines WL are not detected on both sides, a process for determining whether or not a lane departure condition described below is satisfied is skipped (step S105 ). As a result, the lane departure warning is not output.

In the first, in 5 Illustrated, driving scene example, the vehicle is traveling on the lanes in a situation where the lane boundary lines can be identified on both sides. In this case, step S102 the boundary line detection section 22 Lane boundary lines WL capture on both sides ("YES" in step S102 ), and accordingly the control process goes from step S102 to step S103 about.

In step S103 coming from step S102 , there will be a separation distance to each of the lane boundary lines on both sides WL calculated by the boundary line detection section 22 is recorded. Herein, a separation distance D _L to the left lane boundary line WL from the vehicle 50 calculated, the separation distance is calculated D _R to the right lane boundary line WL from the vehicle 50 calculated, and the control process goes into step S104 about. The separation _{distance DL} and the separation _{distance DR} are an example of position information of the vehicle 50 ,

In step S104 coming from step S103 separation distances are recorded D _L . D _R to lane boundary lines WL compared on both sides with the warning threshold value DTH, which was previously in the deviation determination section 23 was saved.

So in step S104 especially in a case where the separation distance D _L or the separation distance D _R is greater than the warning threshold DTH, determines that the lane departure condition is satisfied. In contrast, in a case where the separation distance D _L or the separation distance D _R is less than the warning threshold DTH, determines that the lane departure condition is not met.

In a case where the separation distance D _L is greater than the warning threshold DTH, it is determined that the vehicle 50 outside the left lane boundary line WL of 5 leaves the trail. In contrast, in one case, the separation distance D _R is greater than the warning threshold DTH, determines that the vehicle 50 outside the right lane boundary line WL of 5 leaves the trail.

In this embodiment, in a case where a predetermined condition is satisfied, the warning threshold DTH is set to a value that is larger than an ordinary value. The following is regarding 4 describes the operation of the threshold change control to change the warning threshold DTH.

4 FIG. 12 is a flowchart illustrating an example of the operation of the threshold change control. In one case of this embodiment, the threshold change control is performed by another flow of control operation of the lane departure warning. However, the threshold change control can be performed as part of the control operation of the lane departure warning, which is shown in FIG 3 is illustrated.

First, a summary of the in 4 illustrated threshold change control. The threshold change control is a control for changing the warning threshold D _TH used to determine whether or not the lane departure warning is output to a value that the lane departure warning is unlikely to be performed by the warning control section 25 is output compared with the normal state (a value larger than the normal value in the case of this embodiment) once the detection section 24 a switch from the ON state to the OFF state of the auxiliary brake is detected.

This is how the detection section detects 24 first in step S201 the output information of a brake sensor.

In S202 coming out of step S201 , captures the capture section 24 switching from the ON state to the OFF state of the auxiliary brake based on the detected output information of the brake sensor. A method for detecting the aforementioned switching is not particularly limited.

In S203 coming out of step S202 , determines the acquisition section 24 whether the aforementioned switching is detected or not.

If in step S203 it is determined that the aforementioned switching has not been detected ("NO" in step S203 ), the threshold change control is ended. In this case, the detection section 24 Information to the warning control section 25 send that indicate that the aforementioned switching is not detected.

If in step S203 it is determined that the aforementioned switching is recognized (“YES” in step S203 ), the process goes into step S204 about.

In S204 coming out of step S203 , the information indicating that the aforementioned switching is detected by the detection section 24 to the warning control section 25 transfer.

When information is received that indicates that the aforementioned switching is detected, the warning control section changes 25 in step S205 the warning threshold value DTH to a value which is greater than the usual value from a time of the aforementioned switching by a predetermined value for a predetermined time.

As described above, the warning threshold DTH is used to determine whether the warning control section 25 issues the lane departure warning or not (in other words, to determine whether the vehicle 50 leaves the lane. or not). Accordingly, a condition for determining whether the lane keeping warning is output or not (in other words, determining whether the vehicle 50 deviates or not), compared to the usual state by changing the warning threshold DTH loosened. That is, compared to the usual state, the lane keeping warning is unlikely to be issued.

In step S205 may, in a case where the warning threshold DTH has already changed, the warning control section 25 control so that the changed warning threshold DTH is maintained during the aforementioned predetermined time from a point in time at which the aforementioned newly performed switching is detected.

The operation of the threshold change control, as described above, is repeated in a fixed cycle in the ECU 20 carried out. After the aforementioned predetermined time has passed from the time at which the aforementioned newly performed switching is detected, the warning threshold value DTH is reset to the usual value. This control is also performed by the warning control section 25 executed.

In step S105 , illustrated in 3 , is based on the warning threshold D _TH , which is controlled as described above, determines whether the lane departure condition is satisfied or not.

Then the control process goes from step S104 in step S105 about. The value of the usual warning threshold value DTH and the value of the changed warning threshold value DTH can each be predefined values or can be changed in such a way that they can be set by user operation.

In step S105 coming from step S104 , the deviation determination section determines 23 whether the lane departure condition is met or not. Here is in the first, in 5 Illustrated driving scene example that does not meet the lane departure condition ("NO" in step S105 ), and the control process is ended accordingly. In this case, the lane departure warning is not issued.

Below is an example of the control operation in the second, in 6 illustrated driving scene example. In the second driving scene example in a situation in which lane boundary lines can be identified on both sides, the vehicle begins 50 , outside the lane boundary line WL to leave the lane on one side (right side).

In this case, a control process is step by step S101 until step S105 similar to the control process in the first driving scene example.

In the second, in 6 illustrated driving scene example, the warning threshold DTH is changed by the aforementioned threshold change control. In the second driving scene example, the separation distance is D _R greater than the changed warning threshold _DTH . Accordingly, a comparison result in step meets S104 the lane departure condition. Accordingly, in step S105 determines that the lane departure condition is met ("YES" in step S105 ). Accordingly, the tax process goes into step S106 about.

In step S106 coming from step S105 , an output process of the lane warning by the warning control section 25 carried out. When the lane warning from the warning control section 25 will be output from the speakers 30 audible warnings and from the display device 31 a display warning (for example letters, a lamp and the like) is issued.

In the second, in 6 illustrated driving scene example, even in a case where the warning threshold DTH is the usual value, is the separation distance D _R greater than the warning threshold D _TH , In this case too, step S105 determines that the lane departure condition is satisfied, and the lane departure warning output process is performed by the warning control section 25 in step S106 carried out.

[Effect and Effects of This Embodiment]

The effect and effects of this embodiment are described below. First, in a situation where a driver switches the auxiliary brake from an ON state to an OFF state, it is assumed that the driver operates the vehicle intentionally, and therefore even in a case where the vehicle 50 the lane LA a lane departure warning is often unnecessary. In contrast, in this embodiment, once the detection section 24 a switch from the ON state to the OFF state of the auxiliary brake is detected, the warning threshold value DTH is set to the value that is larger than the usual value, so that it is unlikely that a warning is issued compared to the usual state. As a result, the frequency of warnings by which a driver feels disturbed is reduced. In this embodiment, in a case where the vehicle deviates more from the changed warning threshold DTH even immediately after the driver switches the auxiliary brake from the ON state to the OFF state, the safety is ensured by the output of the lane keeping warning ,

[Additional comments]

In this embodiment, a case where the brake is the auxiliary brake will be described. However, the brake can also be a main brake (for example a foot brake). In a case where the brake is the main brake, the auxiliary brake can be replaced with the main brake in the above description.

The present application is based on a Japanese patent application ( Japanese Patent Application No. 2017-057813 ) on March 23, 2017 and the content of which is incorporated by reference into this description.

Industrial applicability

The present disclosure is not limited to a large vehicle such as a truck, but is applicable to various vehicles.

LIST OF REFERENCE NUMBERS

10

Tracking device

11

CCD camera

20

Electronic control unit

21

Image processing section

22

Boundary line detection section

23

Deviation determining section

24

detecting section

25

Warning control section

30

speaker

31

display device

50

Vehicle

LA

lane

WL

Track boundary line

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• JP 2017057813 [0069]

Claims (7)

A lane departure control device that issues a warning based on a positional relationship between a vehicle and a lane boundary line, the lane departure control device comprising: a detection section that detects the switching of a brake from an ON state to an OFF state; and a warning control section that changes a warning threshold value to a value that the warning is less likely to be output compared to a case where the detection section does not detect the switching as soon as the detection section detects the shift, the warning threshold value being compared with position information of the vehicle to determine whether the warning is issued or not. Control device for a lane keeping device after Claim 1 comprising a deviation determination section that determines the deviation of the vehicle from the lane boundary line, the warning threshold value being a threshold value that is to be used to determine the deviation by the deviation determination section. Control device for a lane keeping device after Claim 2 , wherein the warning control section controls so that the warning is output when it is determined by the deviation determination section that the vehicle has left the lane. Control device for a lane keeping device after Claim 1 , wherein a state in which the warning threshold has been changed is maintained until a predetermined time has elapsed from a time of switching. Control device for a lane keeping device after Claim 1 , wherein once the detection section detects the switching in a state in which the warning threshold has been changed, the state in which the warning threshold has been changed is maintained. A vehicle comprising the control device for a lane keeping device according to Claim 1 , A lane departure warning control method executed in a vehicle, the lane departure warning control method issuing a warning based on the positional relationship between the vehicle and the lane boundary line, the lane departure warning control method comprising: Detecting the occurrence of a switch from an ON state to an OFF state of a brake; and Changing a warning threshold to a value less likely to issue the warning compared to a case where the occurrence of the switching is not detected, in a case where the occurrence of the switching is detected, the Warning threshold is compared with position information of the vehicle to determine whether the warning is issued or not.

Images